In this section, we describe our reformulation of the bilevel optimization problem based on [1]}.
Our reformulation can drastically reduce the computation time to that of [1]} by reducing the computation time of the lower-level QP problem. Such a QP problem is reported in [1]} to dominate the computation time despite being convex. We keep equality constraints only in the lower-level problem, which turns into an unconstrained problem that can be solved in a shorter time.
